CN207015355U - Train integrity monitoring system based on radio communication, satellite navigation and inertial navigation - Google Patents
Train integrity monitoring system based on radio communication, satellite navigation and inertial navigation Download PDFInfo
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- CN207015355U CN207015355U CN201720889099.4U CN201720889099U CN207015355U CN 207015355 U CN207015355 U CN 207015355U CN 201720889099 U CN201720889099 U CN 201720889099U CN 207015355 U CN207015355 U CN 207015355U
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Abstract
The utility model provides a kind of train integrity monitoring system based on radio communication, satellite navigation and inertial navigation, including：Train head's positioning unit and train tailstock positioning unit；Train head's positioning unit includes：First automatic train protection system, the first CPU, the first Satellite Navigation Set, the first inertial navigation unit and the first radio communication device；First CPU is communicatively coupled with first automatic train protection system, first Satellite Navigation Set, first inertial navigation unit, first radio communication device respectively；The train tailstock positioning unit includes：Second automatic train protection system, the 2nd CPU, the second Satellite Navigation Set, the second inertial navigation unit and the second radio communication device；2nd CPU is communicatively coupled with second automatic train protection system, second Satellite Navigation Set, second inertial navigation unit, second radio communication device respectively；First Satellite Navigation Set and the position data at second Satellite Navigation Set collection train both ends.
Description
Technical field
The utility model belongs to railway signal technology field, more particularly to a kind of to be based on radio communication, satellite navigation and be used to
Property navigation train integrity monitoring system.
Background technology
Railway signal system is responsible for controlling the operation of train on the line, generally use time-division or space separation etc.
Method ensures that train keeps fixed or variable interval each other, realizes the tracking operation of train.In above-mentioned control,
Need to obtain the length of train and the complete implementations of real-time tracing train, avoid train length or because the train solution of mistake
Row, lost integrity and the generation for causing train collision accident.
Railroad train integrity checking mainly has following several ways in the prior art：
1st, track circuit or axis-counting device based on trackside installation, checked by the way that orbit occupancy is idle to realize that train is complete
Whole property inspection；
2nd, the wind pressure monitoring equipment installed by locomotive afterbody, airduct blast is monitored in real time to realize to integrity of train
Check；
3rd, integrity of train is detected by train bus-line in real time.
However, for aforesaid way 1, it is necessary to install large number quipments in trackside, construction cost is higher, and installation is difficult in maintenance,
And either track circuit or meter shaft, the problem of being easily disturbed all unavoidably be present.The rail particularly largely used at present
Road circuit mode, red band be present and press the problem of not dead.For aforesaid way 2, it is necessary to install wind pressure monitoring in last vehicle of train
Equipment, the device need the braking air pipe with existing vehicle to be attached, add interface complexity, be easily introduced new risk
Point, and the length data of train can not be obtained.For aforesaid way 3, it is desirable to which train possesses through train bus-line end to end, to car
There is particular/special requirement, it is impossible to adapt to the situation without insertion train bus-line such as goods train, be of limited application.
Utility model content
In order to solve the above-mentioned technical problem, the utility model provide it is a kind of it is new based on radio communication, satellite navigation and
The train integrity monitoring system of inertial navigation, communicated by combining wireless, satellite navigation and inertial navigation technology, arranged obtaining
While vehicle commander's degrees of data, integrity of train state is monitored in real time.Train integrity monitoring system of the present utility model independent of
Train bus-line, it is not required that with the system on existing vehicle, such as braking air pipe contacts, you can independent completion train
The detection of length and the real-time monitoring of integrity of train.
The utility model is achieved through the following technical solutions.
On the one hand, the utility model provides a kind of integrity of train based on radio communication, satellite navigation and inertial navigation
Inspection system, including：Train head's positioning unit and train tailstock positioning unit；Train head's positioning unit includes：The
One automatic train protection system (i.e. ATP system), the first CPU, the first Satellite Navigation Set, the first inertial navigation unit and first
Radio communication device；First CPU respectively with first automatic train protection system, first Satellite Navigation Set,
First inertial navigation unit, first radio communication device are communicatively coupled；The train tailstock positioning unit bag
Include：Second automatic train protection system (i.e. ATP system), the 2nd CPU, the second Satellite Navigation Set, the second inertial navigation unit
With the second radio communication device；2nd CPU respectively with second automatic train protection system, second satellite navigation
Device, second inertial navigation unit, second radio communication device are communicatively coupled；The first satellite navigation dress
Put the position data with second Satellite Navigation Set collection train both ends.
Wherein, the first CPU and the 2nd CPU can include multiple CPU elements, accordingly, described first respectively
Satellite Navigation Set and second Satellite Navigation Set can include multiple satellite navigation units respectively, and first inertia is led
Boat device and second inertial navigation unit can include multiple inertial navigation units respectively.The Satellite Navigation Set can be with
With corresponding satellite antenna.The automatic train protection system can have corresponding GSM/LTE antennas.The radio communication
Device can have corresponding radio antenna.
Wherein, train head's positioning unit and the train tailstock positioning unit can also have supply unit, prevent
Thunder device and shell.
Further, the inertial navigation at first inertial navigation unit and second inertial navigation unit collection train both ends
Data.
Further, first radio communication device and second radio communication device are by the position at the train both ends
Data are put to interact.
Further, first radio communication device and second radio communication device are by the position at the train both ends
Data are put to interact；First radio communication device and second radio communication device are also by the used of the train both ends
Derivative evidence interacts.
Further, the first CPU and the 2nd CPU is by the inertial guidance data and/or positional number at the train both ends
According to computing is compared, train length's data are obtained.
Further, train length's data of acquisition are respectively transmitted to institute by the first CPU and the 2nd CPU
State the first automatic train protection system and second automatic train protection system.
Further, the first CPU sends control instruction to the first Satellite Navigation Set and/or the first inertial navigation unit,
Obtain the first Satellite Navigation Set and/or the first inertial navigation unit data (longitude and latitude, speed, course and/or acceleration,
Angular speed etc.)；2nd CPU sends control instruction to the second Satellite Navigation Set and/or the second inertial navigation unit, obtains second
The data of Satellite Navigation Set and/or the second inertial navigation unit (longitude and latitude, speed, course and/or acceleration, angular speed
Deng)；First CPU and the 2nd CPU also controls the transmitting-receiving of the first radio communication device and the second radio communication device respectively.It is above-mentioned
CPU can also control above-mentioned inertial navigation unit to transmit inertial navigation data to above-mentioned Satellite Navigation Set.First radio communication
Device and the second radio communication device are that the headstock tailstock establishes communication link.Above-mentioned CPU can also receive the speed letter of ATP transmissions
Breath, difference information and secure clock information etc., at the same be sent to ATP train lengths information, velocity information, end to end positional information and
Integrity information etc..
On the other hand, the utility model also provides a kind of based on above-mentioned train integrity monitoring system progress integrity of train
The method of inspection, comprises the following steps：
1) first Satellite Navigation Set and second Satellite Navigation Set gather the positional number at train both ends in real time
According to；First inertial navigation unit and second inertial navigation unit gather the inertial guidance data at train both ends in real time；
2) first radio communication device and second radio communication device are by the position data at the train both ends
And/or inertial guidance data interacts；
3) the first CPU and the 2nd CPU are compared the inertial guidance data at the train both ends and/or position data
Compared with computing, obtain train length's data and monitor the integrity state of train in real time.
Further, methods described is further comprising the steps of,
4) the first CPU and the 2nd CPU is by train length's data of acquisition and/or the integrity state
It is respectively transmitted to first automatic train protection system and second automatic train protection system；
5) first automatic train protection system and second automatic train protection system are by train chief's number of degrees
According to and/or the integrity state pass to trackside control device, for Train Detection and Identification.
Wherein, above-mentioned " first ", " second " are merely to mark, it is not intended to limit the structure of part.Above-mentioned " train "
Type may, for example, be the tracks such as ordinary train, motor-car, high ferro, city railway vehicle marshalling vehicle.
The beneficial effects of the utility model：
Train integrity monitoring system of the present utility model is carried out using satellite navigation system and inertial navigation system simultaneously
The differentiation of train integrity monitoring, it is ensured that in the case where satellite-signal fails (such as tunnel, mountain area, valley), integrality
Inspection system still works；Train integrity monitoring system of the present utility model simultaneously using vehicle-ground wireless communication (such as GSM-R,
LTE-R, GSM, LTE etc., R represent railway it is special) between communication network and the headstock tailstock cordless communication network as integrity checking
The communication port of judgement, it is ensured that in the case where vehicle-ground wireless communication fails, still can utilize channel radio between the headstock tailstock
Communication network, it is ensured that driver obtains integrity of train state in real time；The satellite position of train integrity monitoring system of the present utility model
Put differentiation while merged inertial navigation data, ATP speed datas, further improve train positioning precision.
Track clear detection device (the track circuit, meter shaft etc.) quilt of the utility model by train integrity monitoring by ground
Dynamic inspection is changed to train and actively checked, based on mobile unit, on the one hand reduces the dependence to trackside equipment, it is not necessary to edge
Steel rail line deployment facility, trackside equipment can be greatly decreased, both reduce system complexity, while it is reliable to improve system
Property, reduce maintenance load；On the other hand, based on vehicle-mounted, and independent of the existing system of vehicle or device cooperation (such as
Braking air pipe etc.), interface is simple, and it is easy that installation is implemented, and can meet the needs of different automobile types.
Brief description of the drawings
The train based on radio communication, satellite navigation and inertial navigation of Fig. 1 specific embodiment of the present utility model is complete
The structural representation of whole property inspection system.
Train head's positioning unit of Fig. 2 another embodiments of the present utility model and the knot of train tailstock positioning unit
Structure schematic diagram.
Embodiment
1-2 is complete to the train of the present utility model based on radio communication, satellite navigation and inertial navigation below in conjunction with the accompanying drawings
Whole property inspection system and inspection method elaborate.
As shown in figure 1, the train integrity monitoring system based on radio communication, satellite navigation and inertial navigation includes：Row
Car headstock positioning unit and train tailstock positioning unit；Train head's positioning unit includes：First automatic train protection system 70,
First CPU 10, the first Satellite Navigation Set 30, the first inertial navigation unit 20 and the first radio communication device 50；First CPU
10 respectively with the first automatic train protection system 70, the first Satellite Navigation Set 30, the first inertial navigation unit 20, first is wireless
Communicator 50 is communicatively coupled；Train tailstock positioning unit includes：Second automatic train protection system 70, the 2nd CPU
10th, the second Satellite Navigation Set 30, the second inertial navigation unit 20 and the second radio communication device 50；2nd CPU 10 respectively with
Second automatic train protection system 70, the second Satellite Navigation Set 30, the second inertial navigation unit 20, the second radio communication device
50 are communicatively coupled；First Satellite Navigation Set 30 and the position data at the second Satellite Navigation Set 30 collection train both ends.
First inertial navigation unit 20 and the inertial guidance data at the second inertial navigation unit 20 collection train both ends.Inertial guidance data
Such as can be acceleration, angular speed, magnetic declination etc..
First radio communication device 50 and the second radio communication device 50 interact the position data at train both ends.The
One radio communication device 50 and second radio communication device 50 also interact the inertial guidance data at train both ends.
The inertial guidance data at train both ends and/or position data are compared computing by the first CPU 10 and the 2nd CPU 10,
Obtain train length's data.
Train length's data of acquisition are respectively transmitted to the first train automatic protection by the first CPU 10 and the 2nd CPU 10
The automatic train protection system 70 of system 70 and second.
Above-mentioned inertial navigation unit, can be the one or more in accelerometer, turn meter, electronic compass.
Fig. 2 shows the train head's positioning unit and train tailstock positioning unit of another embodiment, the first CPU
10 and the 2nd CPU 10 include CPU element 11 and CPU element 12 respectively (the first CPU 10 and the 2nd CPU 10 can include respectively
Multigroup " CPU element 11 and CPU element 12 "), the first Satellite Navigation Set and the second Satellite Navigation Set are led including satellite respectively
(the first Satellite Navigation Set and the second Satellite Navigation Set can be respectively including multigroup for boat unit 31 and satellite navigation unit 32
" satellite navigation unit 31 and satellite navigation unit 32 "), the first inertial navigation unit and the second inertial navigation unit include respectively
(the first inertial navigation unit and the second inertial navigation unit can include respectively for inertial navigation unit 21 and inertial navigation unit 22
Multigroup " inertial navigation unit 21 and inertial navigation unit 22 ").Each satellite navigation unit be respectively provided with corresponding satellite antenna 41,
42。
CPU element 11 and CPU element 12 are individually calculated, and result of calculation is compared by both meetings, and according to than
Relatively result come decide whether using above-mentioned result of calculation and/or be switched to another group " CPU element 11 and CPU element 12 " and/or
" train integrity monitoring system automatic or manual is resetted and restarted ".
" 90 " in Fig. 1 and Fig. 2 are exemplary communication base station, and " 60 " are exemplary radio antenna, and " 40 " are
Exemplary satellite antenna, " 80 " are exemplary GSM/LTE antennas；" 1 ", " 2 ", " 3 ", " 4 ", " 5 ", " 6 " in Fig. 2,
What " 7 ", " 8 " represented is communication link.
When carrying out train integrity monitoring using above-mentioned train integrity monitoring system of the present utility model, including it is following
Step：
1) the first Satellite Navigation Set 30 and the second Satellite Navigation Set 30 gather the position data at train both ends in real time；The
One inertial navigation unit 20 and the second inertial navigation unit 20 gather the inertial guidance data at train both ends in real time；
2) the first radio communication device 50 and the second radio communication device 50 are by the position data at train both ends and/or inertial navigation
Data interact；
3) inertial guidance data at train both ends and/or position data are compared fortune by the first CPU 10 and the 2nd CPU 10
Calculate, obtain train length's data and monitor the integrity state of train in real time.
4) the first CPU 10 and the 2nd CPU 10 pass train length's data of acquisition and/or the integrity state respectively
Give the first automatic train protection system 70 and the second automatic train protection system 70；
5) the first automatic train protection system 70 and the second automatic train protection system 70 are by train length's data and/or complete
Whole character state passes to trackside control by train-ground communication network (such as GSM-R, LTE-R, GSM, LTE, R represent that railway is special)
Device, for Train Detection and Identification.
More specifically, in the presence of satellite-signal, train head and tail can be obtained by Satellite Navigation Set
The position in portion, after computing, train length can be obtained, by lasting tracking length change, the complete of train can be obtained
Character state.Once length change exceedes quantity and the threshold value of number, then integrality loss alarm is produced, sends ATP to.In order to obtain
Preferable satellite fix precision, in the case where satellite-signal is good, can take single constellation or multiple constellations (such as GPS,
The Big Dipper, GLONASS, Galileo etc.) satellite navigation data, and inertial navigation data fusion method carry out improving performance.
If necessary, train speed information and satellite difference information can also be obtained from ATP, for aiding in train position to calculate.
It is bad in satellite-signal, in the case that Satellite Navigation Set can not obtain data, by obtaining train head and tail
The inertial guidance data (such as acceleration, angular speed, magnetic declination) of the inertial navigation unit in portion, persistently track train both ends posture and
Movement locus, so that it is determined that the integrity state of train.Once the state at both ends produces obvious on numerical value and time shaft contrast
Change (such as acceleration change is differed greatly, movement locus is overlapped and differed greatly), then produce integrality loss alarm, send to
ATP。
Obviously, above-mentioned embodiment is only intended to clearly illustrate the utility model example, and is not to this
The restriction of the embodiment of utility model.For those of ordinary skill in the field, on the basis of the above description also
It can make other changes in different forms.There is no necessity and possibility to exhaust all the enbodiments.And this
Belong to obvious changes or variations that spirit of the present utility model is extended out a bit still in protection model of the present utility model
Among enclosing.
Claims (4)
1. the train integrity monitoring system based on radio communication, satellite navigation and inertial navigation, including：Train head's positioning is single
Member and train tailstock positioning unit；
Train head's positioning unit includes：First automatic train protection system (70), the first CPU (10), the first satellite are led
Navigate device (30), the first inertial navigation unit (20) and the first radio communication device (50)；First CPU (10) respectively with institute
State the first automatic train protection system (70), first Satellite Navigation Set (30), first inertial navigation unit (20),
First radio communication device (50) is communicatively coupled；
The train tailstock positioning unit includes：Second automatic train protection system (70), the 2nd CPU (10), the second satellite are led
Navigate device (30), the second inertial navigation unit (20) and the second radio communication device (50)；2nd CPU (10) respectively with institute
State the second automatic train protection system (70), second Satellite Navigation Set (30), second inertial navigation unit (20),
Second radio communication device (50) is communicatively coupled；
First Satellite Navigation Set (30) and the position data at second Satellite Navigation Set (30) collection train both ends.
2. train integrity monitoring system according to claim 1, it is characterised in that
First inertial navigation unit (20) and the inertial guidance data at second inertial navigation unit (20) collection train both ends.
3. train integrity monitoring system according to claim 1 or 2, it is characterised in that
First radio communication device (50) and second radio communication device (50) are by the positional number at the train both ends
According to interacting.
4. train integrity monitoring system according to claim 2, it is characterised in that
First radio communication device (50) and second radio communication device (50) are by the positional number at the train both ends
According to interacting；First radio communication device (50) and second radio communication device (50) are also by the train both ends
Inertial guidance data interact.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720889099.4U CN207015355U (en) | 2017-07-20 | 2017-07-20 | Train integrity monitoring system based on radio communication, satellite navigation and inertial navigation |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720889099.4U CN207015355U (en) | 2017-07-20 | 2017-07-20 | Train integrity monitoring system based on radio communication, satellite navigation and inertial navigation |
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| Publication Number | Publication Date |
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| CN207015355U true CN207015355U (en) | 2018-02-16 |
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| CN201720889099.4U Expired - Fee Related CN207015355U (en) | 2017-07-20 | 2017-07-20 | Train integrity monitoring system based on radio communication, satellite navigation and inertial navigation |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110745162A (en) * | 2019-09-04 | 2020-02-04 | 北京全路通信信号研究设计院集团有限公司 | Train integrity checking method and system |
| CN110758471A (en) * | 2019-09-25 | 2020-02-07 | 交控科技股份有限公司 | Train integrity judgment system and method |
| CN110775105A (en) * | 2019-11-07 | 2020-02-11 | 交控科技股份有限公司 | Method and system for monitoring train in subway vehicle section based on UWB |
| CN111169512A (en) * | 2019-12-29 | 2020-05-19 | 合肥工业大学 | Method and system for checking grouping integrity of rail locomotive vehicle |
-
2017
- 2017-07-20 CN CN201720889099.4U patent/CN207015355U/en not_active Expired - Fee Related
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110745162A (en) * | 2019-09-04 | 2020-02-04 | 北京全路通信信号研究设计院集团有限公司 | Train integrity checking method and system |
| CN110758471A (en) * | 2019-09-25 | 2020-02-07 | 交控科技股份有限公司 | Train integrity judgment system and method |
| CN110775105A (en) * | 2019-11-07 | 2020-02-11 | 交控科技股份有限公司 | Method and system for monitoring train in subway vehicle section based on UWB |
| CN111169512A (en) * | 2019-12-29 | 2020-05-19 | 合肥工业大学 | Method and system for checking grouping integrity of rail locomotive vehicle |
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| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20180216 |